USDE-based Quadrotor UAVs Attitude Control with Prescribed Performance

This paper employs prescribed error constraint and disturbance compensation strategy to achieve fast and accurate attitude control of quadrotor unmanned aerospace vehicles (UAVs). The proposed method utilizes the unknown system dynamics estimator (USDE) to estimate the total perturbations generated during the attitude changes of the UAVs. The prescribed performance function (PPF) is employed to constrain the attitude errors. The reliability of the method is verified by means of Lyapunov theory. During the UAVs attitude variation, the internal and external disturbances are treated as a lumped disturbance, and the total disturbance is estimated by using a USDE. The attitude error is transformed to a new error by using a PPF. By using the estimated disturbance from the USDE and the transformed error, a USDE-based UAVs attitute controller is proposed. Simulation results show the effectiveness of the proposed controller.